From 8a6b6f9be5e57a0c9caddbdf638addf57ce9edb3 Mon Sep 17 00:00:00 2001 From: Jon Watson Date: Fri, 24 Mar 2017 12:24:09 -0500 Subject: [PATCH] Send MAVLink DO_DIGICAM_CONTROL on camera trigger (#6815) --- src/modules/mavlink/mavlink_messages.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 3310e7fe87..ca62ac02c1 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1436,6 +1436,23 @@ protected: msg_cmd.param7 = NAN; mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg_cmd); + + /* send MAV_CMD_DO_DIGICAM_CONTROL*/ + mavlink_command_long_t digicam_ctrl_cmd; + + digicam_ctrl_cmd.target_system = mavlink_system.sysid; + digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA; + digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL; + digicam_ctrl_cmd.confirmation = 0; + digicam_ctrl_cmd.param1 = NAN; + digicam_ctrl_cmd.param2 = NAN; + digicam_ctrl_cmd.param3 = NAN; + digicam_ctrl_cmd.param4 = NAN; + digicam_ctrl_cmd.param5 = 1; // take 1 picture + digicam_ctrl_cmd.param6 = NAN; + digicam_ctrl_cmd.param7 = NAN; + + mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd); } } }